magnesium as, bluesfan states, is very useful for restless legs.
Just make sure you avoid magnesium oxide, as that is not absorbed well. Magnesium has to ionize which is separate from
its carrier to work in the tissues.

But I wonder if you are having side effects from some medications. SSRIs and atypical antipsychotics can cause a jumpy irritable side effect :
Akathisia - Wikipedia, the free encyclopedia

To test the need for magnesium try soaking in a bathtub with epsom salts. About 6oz to a bathtub of LUKEWARM water will relax you and point the way for some dietary changes (avoidance of high caffeine intake) and consumption of magnesium rich foods, and/or a good magnesium supplement like SlowMag which is made to deliver good absorption.